Minimizing the Impact of Non-Linear Stribeck Friction on Positioning of a Servo Drive

In the paper we consider problems with precise control of position of the servo drive while moving with very small velocities. Movements with small velocities or changing movement direction which a typical for e.g. milling machines are seriously influenced and the performance deteriorated by the motor friction. To solve this problem we propose to utilize a model following control (MFC) structure which together with the tuning algorithm of its controllers. The proposed control scheme seems to be easily implemented in the modern servo drive controller which may be of great practical importance.